# Copyright (c) OpenMMLab. All rights reserved.
from typing import Optional, Union

from mmengine.data import InstanceData

from mmdet3d.registry import TASK_UTILS
from mmdet.core.bbox.assigners import MaxIoUAssigner
from ..assigners import AssignResult


@TASK_UTILS.register_module()
class Max3DIoUAssigner(MaxIoUAssigner):
    # TODO: This is a temporary box assigner.
    """Assign a corresponding gt bbox or background to each bbox.

    Each proposals will be assigned with `-1`, or a semi-positive integer
    indicating the ground truth index.

    - -1: negative sample, no assigned gt
    - semi-positive integer: positive sample, index (0-based) of assigned gt

    Args:
        pos_iou_thr (float): IoU threshold for positive bboxes.
        neg_iou_thr (float or tuple): IoU threshold for negative bboxes.
        min_pos_iou (float): Minimum iou for a bbox to be considered as a
            positive bbox. Positive samples can have smaller IoU than
            pos_iou_thr due to the 4th step (assign max IoU sample to each gt).
            `min_pos_iou` is set to avoid assigning bboxes that have extremely
            small iou with GT as positive samples.
        gt_max_assign_all (bool): Whether to assign all bboxes with the same
            highest overlap with some gt to that gt.
        ignore_iof_thr (float): IoF threshold for ignoring bboxes (if
            `gt_bboxes_ignore` is specified). Negative values mean not
            ignoring any bboxes.
        ignore_wrt_candidates (bool): Whether to compute the iof between
            `bboxes` and `gt_bboxes_ignore`, or the contrary.
        match_low_quality (bool): Whether to allow low quality matches. This is
            usually allowed for RPN and single stage detectors, but not allowed
            in the second stage. Details are demonstrated in Step 4.
        gpu_assign_thr (int): The upper bound of the number of GT for GPU
            assign. When the number of gt is above this threshold, will assign
            on CPU device. Negative values mean not assign on CPU.
        iou_calculator (dict): Config of overlaps Calculator.
    """

    def __init__(self,
                 pos_iou_thr: float,
                 neg_iou_thr: Union[float, tuple],
                 min_pos_iou: float = .0,
                 gt_max_assign_all: bool = True,
                 ignore_iof_thr: float = -1,
                 ignore_wrt_candidates: bool = True,
                 match_low_quality: bool = True,
                 gpu_assign_thr: float = -1,
                 iou_calculator: dict = dict(type='BboxOverlaps2D')):
        self.pos_iou_thr = pos_iou_thr
        self.neg_iou_thr = neg_iou_thr
        self.min_pos_iou = min_pos_iou
        self.gt_max_assign_all = gt_max_assign_all
        self.ignore_iof_thr = ignore_iof_thr
        self.ignore_wrt_candidates = ignore_wrt_candidates
        self.gpu_assign_thr = gpu_assign_thr
        self.match_low_quality = match_low_quality
        self.iou_calculator = TASK_UTILS.build(iou_calculator)

    def assign(self,
               pred_instances: InstanceData,
               gt_instances: InstanceData,
               gt_instances_ignore: Optional[InstanceData] = None,
               **kwargs) -> AssignResult:
        """Assign gt to bboxes.

        This method assign a gt bbox to every bbox (proposal/anchor), each bbox
        will be assigned with -1, or a semi-positive number. -1 means negative
        sample, semi-positive number is the index (0-based) of assigned gt.
        The assignment is done in following steps, the order matters.

        1. assign every bbox to the background
        2. assign proposals whose iou with all gts < neg_iou_thr to 0
        3. for each bbox, if the iou with its nearest gt >= pos_iou_thr,
           assign it to that bbox
        4. for each gt bbox, assign its nearest proposals (may be more than
           one) to itself

        Args:
            pred_instances (:obj:`InstanceData`): Instances of model
                predictions. It includes ``priors``, and the priors can
                be anchors or points, or the bboxes predicted by the
                previous stage, has shape (n, 4). The bboxes predicted by
                the current model or stage will be named ``bboxes``,
                ``labels``, and ``scores``, the same as the ``InstanceData``
                in other places.
            gt_instances (:obj:`InstanceData`): Ground truth of instance
                annotations. It usually includes ``bboxes``, with shape (k, 4),
                and ``labels``, with shape (k, ).
            gt_instances_ignore (:obj:`InstanceData`, optional): Instances
                to be ignored during training. It includes ``bboxes``
                attribute data that is ignored during training and testing.
                Defaults to None.

        Returns:
            :obj:`AssignResult`: The assign result.

        Example:
            >>> from mmengine.data import InstanceData
            >>> self = MaxIoUAssigner(0.5, 0.5)
            >>> pred_instances = InstanceData()
            >>> pred_instances.priors = torch.Tensor([[0, 0, 10, 10],
            ...                                      [10, 10, 20, 20]])
            >>> gt_instances = InstanceData()
            >>> gt_instances.bboxes = torch.Tensor([[0, 0, 10, 9]])
            >>> gt_instances.labels = torch.Tensor([0])
            >>> assign_result = self.assign(pred_instances, gt_instances)
            >>> expected_gt_inds = torch.LongTensor([1, 0])
            >>> assert torch.all(assign_result.gt_inds == expected_gt_inds)
        """
        gt_bboxes = gt_instances.bboxes_3d
        priors = pred_instances.priors
        gt_labels = gt_instances.labels_3d
        if gt_instances_ignore is not None:
            gt_bboxes_ignore = gt_instances_ignore.bboxes_3d
        else:
            gt_bboxes_ignore = None

        assign_on_cpu = True if (self.gpu_assign_thr > 0) and (
            gt_bboxes.shape[0] > self.gpu_assign_thr) else False
        # compute overlap and assign gt on CPU when number of GT is large
        if assign_on_cpu:
            device = priors.device
            priors = priors.cpu()
            gt_bboxes = gt_bboxes.cpu()
            gt_labels = gt_labels.cpu()
            if gt_bboxes_ignore is not None:
                gt_bboxes_ignore = gt_bboxes_ignore.cpu()

        overlaps = self.iou_calculator(gt_bboxes, priors)

        if (self.ignore_iof_thr > 0 and gt_bboxes_ignore is not None
                and gt_bboxes_ignore.numel() > 0 and priors.numel() > 0):
            if self.ignore_wrt_candidates:
                ignore_overlaps = self.iou_calculator(
                    priors, gt_bboxes_ignore, mode='iof')
                ignore_max_overlaps, _ = ignore_overlaps.max(dim=1)
            else:
                ignore_overlaps = self.iou_calculator(
                    gt_bboxes_ignore, priors, mode='iof')
                ignore_max_overlaps, _ = ignore_overlaps.max(dim=0)
            overlaps[:, ignore_max_overlaps > self.ignore_iof_thr] = -1

        assign_result = self.assign_wrt_overlaps(overlaps, gt_labels)
        if assign_on_cpu:
            assign_result.gt_inds = assign_result.gt_inds.to(device)
            assign_result.max_overlaps = assign_result.max_overlaps.to(device)
            if assign_result.labels is not None:
                assign_result.labels = assign_result.labels.to(device)
        return assign_result
